Fix reported contact impulse in the contact force event

Address https://github.com/dimforge/rapier.js/issues/261
2024-03-23 16:00:19 +01:00
parent 59dc9bfe00
commit 09af4313fa
8 changed files with 80 additions and 40 deletions
--- a/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
@@ -201,7 +201,7 @@ impl GenericTwoBodyConstraintBuilder {
                        gcross2,
                        rhs: na::zero(),
                        rhs_wo_bias: na::zero(),
-                        total_impulse: na::zero(),
+                        impulse_accumulator: na::zero(),
                        impulse: na::zero(),
                        r,
                    };